Dynamic balancing vehicle with a seat
View Patent ↗A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.
1. A device for transporting a human subject over a surface, the device comprising:
a platform defining a fore-aft plane, the platform supporting a payload including the human subject;
a ground contacting module, including a ground-contacting member movably coupled to the platform, the device including the payload having a center of gravity, the center of gravity having a position defined with respect to the ground-contacting member;
a moveably mounted seat for supporting the subject, the seat coupled to the platform to permit variation of the position of the center of gravity in the fore-aft plane by simultaneous translation and rotation of the seat, and
a drive, coupled to the ground-contacting module, for delivering power to the ground-contacting module responsive to the position of the center of gravity.
2. The device according to claim 1 , further comprising:
one or more elongated members wherein the seat is translated along the one or more elongated members and the rotation of the seat is coupled with the translation of the seat.
3. The device according to claim 2 , wherein rotation of the seat is mechanically coupled with translation of the seat along the elongated members.
4. The device according to claim 2 , wherein the one or more elongated members is a rail.
5. The device according to claim 4 , wherein the translation of the seat is accomplished by sliding.
6. The device according to claim 4 , wherein translation of the seat is accomplished by meshing at least one sprocket with a series of protrusions formed in an arc coupled to the seat.
7. The device according to claim 4 , further comprising:
one or more wheels for translation of the seat.
8. The device according to claim 4 , wherein the rail is characterized by a varying curvature.
9. The device according to claim 1 , wherein the seat includes a support.
10. The device according to claim 1 , wherein the seat includes a convex radial base which couples to the platform.
11. The device according to claim 1 , wherein the seat includes a convex bottom for contacting the platform, wherein the convex bottom has a plurality of radii of curvature.
12. A device for transporting a human subject over a surface, the device comprising:
a platform defining a fore-aft plane, the platform supporting a payload including the human subject;
a ground contacting module, including a ground-contacting member movably coupled to the platform, the platform and the ground-contacting module being components of an assembly having a center of gravity including the payload, the center of gravity having a position defined with respect to the ground-contacting member;
a seat for supporting the human subject, the seat moveably coupled to the platform to permit variation of the position of the center of gravity in the fore-aft plane by motion of the seat; the seat having a pivot allowing rotational motion of the seat about an axis substantially transverse to the fore-aft plane, the pivot capable of translation movement within the fore-aft plane; and
a drive, coupled to the ground-contacting module, for delivering power to the ground-contacting module in a manner responsive to the position of the center of gravity.
13. The device according to claim 12 , wherein rotational motion of the seat and translational movement of the pivot are coupled.
14. The device according to claim 13 , wherein rotational motion of the seat and the translational movement of the pivot are coupled mechanically.
15. The device according to claim 14 , wherein the mechanical coupling comprises at least one sprocket meshed with a series of protrusions formed in an arc coupled to the seat.
16. The device according to claim 14 , wherein the mechanical coupling comprises one or more wheels.
17. The device according to claim 12 , wherein the position of the seat with respect to the platform may be varied by leaning of the human subject.
18. The device according to claim 12 , wherein the rotational motion of the seat may be actuated by leaning of the human subject.
19. The device according to claim 12 , wherein the translational movement of the pivot may be actuated by leaning of the human subject.
20. A transportation device, the transportation device having an associated center of gravity including a payload on the device, the device comprising:
a platform;
a motor;
a ground contacting module coupled to the motor for propelling the transportation device;
a control module coupled to the motor for providing a control signal to the motor that is based at least in part on the center of gravity of the device; and
a seat for positioning a human subject, the seat having a pivot.